CAJ | 학술논문

容积卡尔曼滤波(CKF)是一种新型的非线性滤波方法，可获得优于扩展卡尔曼滤波(EKF)和无迹卡尔曼滤波(UKF)的滤波精度和滤波效率。但是，传统的CKF基于三阶容积准则而提出，因此滤波精度受到限制，为进一步提高CKF滤波性能，文中将容积准则由三阶扩展到五阶，采用两种不同容积点集选择方案，提出一种新型的五阶CKF算法。该算法可有效改善传统CKF在精度方面的理论局限，并有效改善一般五阶CKF计算量大的问题。机动目标跟踪仿真结果表明了新方法的有效性和可行性。
용적잡이만려파(CKF)시일충신형적비선성려파방법，가획득우우확전잡이만려파(EKF)화무적잡이만려파(UKF)적려파정도화려파효솔。단시，전통적CKF기우삼계용적준칙이제출，인차려파정도수도한제，위진일보제고CKF려파성능，문중장용적준칙유삼계확전도오계，채용량충불동용적점집선택방안，제출일충신형적오계CKF산법。해산법가유효개선전통CKF재정도방면적이론국한，병유효개선일반오계CKF계산량대적문제。궤동목표근종방진결과표명료신방법적유효성화가행성。
Cubature Kalman Filter (CKF) is one of new nonlinear filters, its accuracy and efficiency are better than Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). But the traditional CKF was proposed based on third order cubature rule and the filter accuracy was restricted. So the spherical-radial cubature rule was expended from third order to fifth order, the fifth order cubature rule based on two kinds of cubature point was used, a new fifth order CKF was proposed. The restriction of traditional CKF in theoretic accuracy was improved by the new fifth order CKF. The simulation results of the maneuvering target tracking show the validity and feasibility.